Controller Card Drivers

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Hi all,

I am currently trying to control up to 4 motors embedded in a robotic hand using the MC4/MCP boards used in iCub (among others). My problem is that my main robot is running ROS Hydro and, as the researchers in the iCub project are all using YARP, they keep telling me to use YARP because the drivers for the board are already done in YARP. Does anyone knows if there is something I could use in ROS to control the boards? If not and the code needs to be done, how hard would it be to do it?

This problem is even more critic as I'm trying to use a CAN-USB converter that already has drivers for ROS and not for YARP.

Thanks for the attention, Best regards, André Farinha